launch_main.py
Go to the documentation of this file.
00001 # Software License Agreement (BSD License)
00002 #
00003 # Copyright (c) 2012, Willow Garage, Inc.
00004 # All rights reserved.
00005 #
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions
00008 # are met:
00009 #
00010 #  * Redistributions of source code must retain the above copyright
00011 #    notice, this list of conditions and the following disclaimer.
00012 #  * Redistributions in binary form must reproduce the above
00013 #    copyright notice, this list of conditions and the following
00014 #    disclaimer in the documentation and/or other materials provided
00015 #    with the distribution.
00016 #  * Neither the name of Willow Garage, Inc. nor the names of its
00017 #    contributors may be used to endorse or promote products derived
00018 #    from this software without specific prior written permission.
00019 #
00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00021 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00023 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00024 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00025 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00026 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00027 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00028 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00029 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00030 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031 # POSSIBILITY OF SUCH DAMAGE.
00032 #
00033 # Author: Isaac Saito
00034 
00035 import sys
00036 
00037 import rospy
00038 from rqt_launch.launch_widget import LaunchWidget
00039 from rqt_py_common.plugin_container_widget import PluginContainerWidget
00040 from rqt_py_common.rqt_roscomm_util import RqtRoscommUtil
00041 
00042 
00043 class LaunchMain(object):
00044     def __init__(self, plugin_context):
00045         super(LaunchMain, self).__init__()
00046         self._plugin_context = plugin_context
00047 
00048         self._main_launch_widget = LaunchWidget(self)
00049         self._mainwidget = PluginContainerWidget(self._main_launch_widget,
00050                                                  True, False)
00051 
00052         self._run_id = None
00053         self._node_controllers = []
00054 
00055         #RqtRoscommUtil.load_parameters(self._config, '/rqt_launch')
00056 
00057     def get_widget(self):
00058         return self._mainwidget
00059 
00060     def set_node_controllers(self, node_controllers):
00061         self._node_controllers = node_controllers
00062 
00063     def start_all(self):
00064         '''
00065         Checks nodes that's set (via self.set_node_controllers) one by one and
00066         starts one if each node is not running. 
00067         Then disable START ALL button and enable STOP ALL button.
00068         '''
00069         for n in self._node_controllers:
00070             if not n.is_node_running():
00071                 n.start(restart=False)
00072 
00073         # Disable START ALL button.
00074         self._main_launch_widget._pushbutton_start_all.setEnabled(False)
00075         self._main_launch_widget._pushbutton_stop_all.setEnabled(True)
00076 
00077     def stop_all(self):
00078         '''
00079         Checks nodes that's set (via self.set_node_controllers) one by one and
00080         stops one if each node is running.
00081         Then enable START ALL button and disable STOP ALL button.
00082         '''
00083         for n in self._node_controllers:
00084             if n.is_node_running():
00085                 n.stop()
00086 
00087         # Disable STOP ALL button.
00088         self._main_launch_widget._pushbutton_start_all.setEnabled(True)
00089         self._main_launch_widget._pushbutton_stop_all.setEnabled(False)
00090 
00091     def check_process_statuses(self):
00092         for n in self._node_controllers:
00093             n.check_process_status()
00094 
00095     def shutdown(self):
00096         rospy.logdebug('Launchmain.shutdown')
00097         self.stop_all()
00098 
00099     def save_settings(self, plugin_settings, instance_settings):
00100         self._mainwidget.save_settings(plugin_settings, instance_settings)
00101 
00102     def restore_settings(self, plugin_settings, instance_settings):
00103         self._mainwidget.restore_settings(plugin_settings, instance_settings)
00104 
00105 
00106 if __name__ == '__main__':
00107     # main should be used only for debug purpose.
00108     # This launches this QWidget as a standalone rqt gui.
00109     from rqt_gui.main import Main
00110     main = Main()
00111     sys.exit(main.main(sys.argv, standalone='rqt_launch'))


rqt_launch
Author(s): Isaac Saito, Stuart Glaser
autogenerated on Wed Sep 16 2015 06:58:21